Working with Dynamixel Motors

[mahumada]

Do you have any tips for me to get the boilerplate running with a custom Dynamixel based arm to do feedback control? For clarity, I have been able to get MoveIt! to control the Dynamixel motors using dynamixel_drivers.

[davetcoleman]

Perhaps you could gain some inspiration from this non-ros_control based Dynamixel driver?
https://github.com/davetcoleman/clam/tree/indigo-devel/dynamixel_hardware_interface

It has a similar controller manager

[dogoepp]

Maybe you can also inspire from the software we use: https://github.com/resibots/dynamixel_control_hw/

You should be able to use it, but it's not a finished product.